EP3837961B1 - Combinaison d'un véhicule tracteur et d'un appareil - Google Patents

Combinaison d'un véhicule tracteur et d'un appareil Download PDF

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Publication number
EP3837961B1
EP3837961B1 EP20208202.0A EP20208202A EP3837961B1 EP 3837961 B1 EP3837961 B1 EP 3837961B1 EP 20208202 A EP20208202 A EP 20208202A EP 3837961 B1 EP3837961 B1 EP 3837961B1
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EP
European Patent Office
Prior art keywords
towing vehicle
implement
travel
actuator
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20208202.0A
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German (de)
English (en)
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EP3837961A1 (fr
Inventor
Kilian Wolff
Daniel Rossnagel
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Deere and Co
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Deere and Co
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Publication of EP3837961A1 publication Critical patent/EP3837961A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F15/00—Baling presses for straw, hay or the like
    • A01F15/08—Details
    • A01F15/0875—Discharge devices
    • A01F15/0883—Discharge devices for round balers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
    • A01B69/004—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F15/00—Baling presses for straw, hay or the like
    • A01F15/07—Rotobalers, i.e. machines for forming cylindrical bales by winding and pressing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/246—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for actuating the hitch by powered means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • B60D1/62—Auxiliary devices involving supply lines, electric circuits, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/672—Positioning of towed, pushed or suspended implements, e.g. ploughs
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B67/00—Devices for controlling the tractor motor by resistance of tools
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
    • A01B69/005—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection by an additional operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D2001/001—Traction couplings; Hitches; Draw-gear; Towing devices specially adapted for use on vehicles other than cars
    • B60D2001/008—Traction couplings; Hitches; Draw-gear; Towing devices specially adapted for use on vehicles other than cars specially adapted for implements, e.g. towed tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/15—Agricultural vehicles
    • B60W2300/152—Tractors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/30—Auxiliary equipments

Definitions

  • the invention relates to a combination of a towing vehicle and a towed device for picking up, bundling and depositing agricultural material, according to the preamble of claim 1.
  • baler In some agricultural work, material, in particular harvested crops, is picked up from a field, bundled or pressed into bales, and the collected material is deposited on the field.
  • a towing vehicle usually a farm tractor
  • a device for picking up and bundling the material such as a baler
  • it can make sense not to simply deposit the collected material in the respective direction of travel of the combination of towing vehicle and device, but in a different direction.
  • An example of this would be a round baler where the bale would be placed with its axis across a slope to prevent it from rolling down the slope. It can also make sense to store bales in an east-west direction rather than in a north-south direction ( R.
  • the EP 1 685 759 A1 , U.S. 2017/0118918 A1 and U.S. 2018/0325013 A1 describe combinations of farm tractors and balers in which the tractor automatically steers along the windrow and the baler is also moved laterally relative to the tractor in order to introduce the material into the baling chamber.
  • the object on which the invention is based is seen as providing a combination of a towing vehicle and a towed device for producing and depositing bundled agricultural material, in which the material can be positioned in a desired position in a simple and time-saving manner.
  • a control device be used to provide control data, which can be used not only to control the actuator, but also to control the speed and/or direction of travel, in order to bring the device into an orientation around the vertical axis that is suitable for depositing the material, be it by hand and/or foot by the operator or by automation. This makes it easier for the operator to position the device in the appropriate orientation and speeds up the deposition process.
  • the control device can be configured to automatically transmit the control data for the actuator to the actuator and/or to transmit the control data to an operator interface for providing instructions to an operator for manual activation of the actuator.
  • the control device can be configured to transmit the control data for steering and/or speed and/or direction of travel control of the towing vehicle to a steering actuator of the towing vehicle and/or a speed and/or direction of travel control device of the towing vehicle and/or to provide the control data to an operator interface of instructions to an operator for manual activation of a steering system that can be actuated by the operator and/or a speed and/or travel direction control device of the towing vehicle that can be actuated by the operator.
  • the controller is configured, during a final phase of a process in which the material is picked up and bundled, to provide control data to the actuator that result in the device being displaced laterally with respect to the towing vehicle, namely to the right when the device is opposite the the device is to be rotated counterclockwise to the appropriate orientation for the current orientation of the device and to the left when the device is to be rotated clockwise to the appropriate orientation from the current orientation of the device.
  • the control device can be configured to control the lateral offset as a function of a working width of a crop pickup of the device and the sensor-determined width of a swath of the material to be picked up.
  • the controller is configured to provide control data for controlling the speed of the tow vehicle after the end of the process of picking up and bundling the material, which stops the tow vehicle.
  • the controller is configured to provide control data to the actuator after the end of the process of picking up and bundling the material, which causes the device to rotate about the vertical axis relative to the towing vehicle towards the appropriate orientation.
  • the control device can command a lifting of a crop pick-up of the device.
  • the control device is configured, after the device has been rotated about the vertical axis by actuating the actuator, control data for steering and speed and To provide direction of travel controls of the towing vehicle which will result in the towing vehicle traveling in a reverse direction from the direction of travel when picking up the material, with a left direction of travel relative to the direction of travel in effect when picking up the material when the equipment is opposite the current one orientation of the device is to be rotated counterclockwise to the appropriate orientation, and with a direction of travel to the right of the direction of travel in effect when the material was recorded, if the device is to be rotated clockwise to the appropriate orientation of the current orientation of the device
  • the control device is configured to provide control data for steering the towing vehicle when reversing, which causes the towing vehicle to rotate in the opposite direction to the previous direction of rotation of the towing vehicle as soon as the angle between the towing vehicle and the device has reached a maximum angle.
  • This angle can be detected directly by sensors, in particular with a feedback sensor for detecting the angle between the drawbar on the one hand and the device and/or the towing vehicle on the other hand, or can be determined indirectly based on a distance traveled or time.
  • the control device can be configured to provide control data that result in an actuation of the actuator and/or a steering and/or reversing operation of the towing vehicle being terminated when the device has reached the appropriate orientation.
  • the device is a round baler and the control device is configured to determine the course of the described sequence in such a way that a round bale placed by the device is oriented with its axis of symmetry parallel to a slope of the worked field.
  • the actuator may be configured to adjust the angle of a drawbar between the tow vehicle and the device relative to the device and/or relative to the tow vehicle.
  • the figure 1 1 shows a side view of an agricultural towing vehicle 10 in the form of a tractor and an implement 12 in the form of a round baler, which is coupled to a hitch 28 of the towing vehicle 10 by means of a drawbar 14 and has a variable bale chamber size and is used for picking up and bundling agricultural material (crop in the form of grass or Hay or similar lying in a swath 40 on the field) is used.
  • the towing vehicle 10 is built on a supporting frame 18 which is supported on steerable front wheels 20 and drivable rear wheels 22 and carries a cabin 24 in which an operator's workplace 26 is located.
  • Implement 12 includes a chassis 32, which is supported on the ground via steerable wheels 34, a processing element 36 in the form of a crop pickup 38 for picking up crops lying on the ground in swath 40, and a conveyor 42 that carries the crop picked up by crop pickup 38 Crops are conveyed into a container 46 in the form of a baling chamber 44 in which the crops are bundled (i.e. pressed).
  • the baling chamber 44 is delimited in a manner known per se by pressing means (not shown) in the form of belts.
  • a completed bale can be ejected through an upwardly pivoting rear door 48 (which could also be supplemented or replaced by a mechanism for moving the pressing means at the rear of the baling chamber to an ejection position) and deposited on the field.
  • the mechanical drive of the driven elements of the device 12 follows via a power take-off shaft 30 from the towing vehicle 10, although a drive by electric motors which are supplied with electrical energy from the towing vehicle 10 would also be conceivable.
  • a total of three sensors 50 are distributed across the width of the container 46, which serve to detect the diameter of the bale and/or to detect the tension of the pressing means also contains information about the distribution of the crop over the width of the container 46 contains.
  • the sensors 50 are connected to a controller 52 which is on board the device 12 but could also be located on board the towing vehicle 10 .
  • the control device 52 is connected via a valve arrangement 56 (which could also be located on board the towing vehicle 10) to a first actuator 54 in the form of a hydraulic cylinder which is articulated at one end to the drawbar 14 and at the other end to the chassis 32 of the device 12.
  • the control device 52 is also connected via the valve arrangement 56 to an (optional) second actuator 58 in the form of a hydraulic cylinder which is coupled to a rod 60 for pivoting the wheels 34 of the device 12 about the vertical axis.
  • the control device 52 is informed of the current angle of the drawbar 14 and the wheels 34 by feedback sensors 70 , 72 .
  • the feedback sensor 70 for sensing the angle of the tongue 14 could also be mounted between the tongue 14 and the towing vehicle 10 at or near the hitch 28 or replaced or supplemented by a camera.
  • a detection device 62 in the form of a camera is attached to the front of towing vehicle 10, which optically detects swath 40 and is connected to an image processing system, which emits a steering signal to a steering controller 64 of towing vehicle 10, which in turn controls the steerable front wheels 20 of towing vehicle 10 adjusted via a suitable actuator (not shown) in such a way that the longitudinal center axis of the towing vehicle 10 is guided at least approximately on a target line 66 which corresponds to the longitudinal axis of the windrow 40 .
  • data regarding the position of the swath is stored in the steering control 64 and a position determining device 68 (e.g.
  • Steering controller 64 continuously transmits data to control device 52 regarding the lateral position of target line 66 relative to the longitudinal center axis of towing vehicle 10 and the associated time of detection and/or the associated position in the forward direction, and is connected to control device 52 via a bus for this purpose.
  • a speed and direction control device 74 controls the driving speed and direction of the vehicle, ie the absolute value of the driving speed of the towing vehicle 10 and whether it is driving forwards or backwards.
  • the speed of the towing vehicle 10 and thus of the Device 12 can depend in a manner known per se on the dimensions and the density of the swath 40, which can be detected by the detection device 62 and possibly additional sensors or stored together with the coordinates of the swath 40 in advance during the previous work process.
  • the procedure of the control device 52 when picking up the swath 40 takes place in a manner known per se such that the towing vehicle 10 is guided along the target line 66 when the swath 40 is picked up.
  • the device 12 is controlled by the control device 52 based on the signals of the sensors 50 and, if necessary, the detection device 62, by the first actuator 54 and the optional, second actuator 58 successively moved to the left and right in relation to the towing vehicle 10 in order to press the bale chamber 44 to fill evenly over its width, because the width of the swath 40 is usually smaller than that of the baling chamber 44.
  • EP 1 926 364 A1 or DE 10 2009 047 585 A1 be taken.
  • the figure 3 shows the usual intake of swath 44 in phase 1.
  • the bale is ejected from the baling chamber 44 by opening the door 48.
  • the field from which the swath 40 is picked up and on which the finished bale is deposited is not in all cases horizontal but may be inclined. At the figure 3 it is assumed that it is inclined to the left, so the towing vehicle 10 is driving exactly uphill. If the bale were to be ejected when the device 12 was positioned with its longitudinal central axis in the direction of the slope (as was the case in phase 1 of figure 3 is the case), it would eventually roll down the slope, which is undesirable for a number of reasons, including the danger it poses.
  • the device 12 would be at the in figure 3 to rotate the situation shown by 90° around the vertical axis from the orientation shown in phase 1.
  • the previous state of the art which provided manual control by the driver, required the driver to push back the device 12 through manual steering interventions and speed specifications in order to achieve a suitable orientation of the device 12 with respect to the slope, while previous automation proposals ( DE 10 2006 011 135 A1 , DE 10 2009 047 585 A1 ) have only referred to an automatic adjustment of the device 12 relative to the towing vehicle 10 by the adjustable drawbar 14, which - without any movement of the towing vehicle 10 - is not sufficient for obvious reasons to position the device 12.
  • the steerable drawbar 14 between device 12 and towing vehicle allows - in conjunction with a suitable Motion control of the towing vehicle 10 - to facilitate, shorten and automate the process of positioning the implement 12.
  • the steerable drawbar 14 also has other advantages such as better directional stability in curves and the above-mentioned so-called "weaving" for optimized filling of the baling chamber 44 without the operator of the towing vehicle 10 being exposed to continuous lateral movements.
  • FIG 3 and the following description shows an automated ejection process in which the implement 12 is positioned parallel to the slope prior to ejecting the bale.
  • the ejection process when driving on a slope is to be fully automated so that the driver of the towing vehicle 10 no longer has to intervene manually, although it would also be conceivable to give the driver visual or acoustic instructions at his operator workstation 26 so that he can activate the actuator 54 and can operate the input means of the speed and direction control device 74 analogously to the described automatic process.
  • a suitable sensor system e.g. an inertial measuring unit (IMU), which can be integrated into the housing of the position determination device 68 in a manner known per se, or digitally available topographical information that is acquired in advance or during work by the position determination device 68 - connected via the bus to the control device 52 - are generated, or a separate sensor system of the device 12) the slope (both the pitch angle in the forward direction and the roll angle in the transverse direction to the direction of travel of the combination of towing vehicle 10 and device 12) recorded.
  • IMU inertial measuring unit
  • an automated sequence is carried out to bring the device 12 into a suitable position before the bale is ejected, in which the bale can be ejected without the problem of the bale rolling away.
  • the solution with the shortest route is to be favored, since a longer route takes more time and thus unnecessarily lengthens the entire process.
  • the figure 3 clarifies the process described below.
  • the combination of towing vehicle 10 and device 12 travels along target line 66 or swath 40. Based on the signals from sensors 50 of device 12, it is detected when device 12 is in the final phase of creating the bale ie the bale within a few seconds the desired diameter will have reached. With a corresponding advance, ie during this final phase, the drawbar 14 is deflected by actuating the actuator 54 (phase 2 in figure 3 ) that when the device 12 has reached the desired diameter, it has reached a quasi-static position offset next to the tractor path (phase 3 of figure 3 ).
  • the direction in which device 12 is to be rotated about the vertical axis in order to bring it into the (desired) orientation about the vertical axis determined by control device 52 depends on the pitch and roll angle of the worked terrain: when driving uphill, device 12 be shifted up the slope according to the measured roll angle, so that it is ultimately oriented with its longitudinal center plane transverse to the slope (phase 8 in figure 3 ). When driving downhill, the device 12 must be moved downhill according to the measured roll angle. The lateral displacement of the device 12 in phase 3 of figure 3 is selected so that the device 12 moves to the right of the towing vehicle 10 and stands, which simplifies the subsequent rotation about the vertical axis counterclockwise, as can be seen from the subsequent phases of figure 3 results.
  • the device 12 would be positioned to the left of the towing vehicle in phase 3.
  • the direction in which the baler is deflected in phases 2 and 3 can, under certain conditions, also be influenced by the space available in order to avoid the bale being deposited too close to obstacles, field borders or neighboring swaths.
  • the lateral offset between the towing vehicle 10 and the device 12 is selected in particular in such a way that no harvested crop is left on the field, ie the swath 40 remains within the working width of the pick-up 38 .
  • a camera system for example the detection device 62
  • the control device 52 which provides dimensioned signals for the actuator 54 in the sense described.
  • the control device 52 deflects the drawbar 14 in the opposite direction (phase 4) when the towing vehicle 10 is stationary by commanding the actuator 54, so that the device 12 already rotates to a certain extent in the desired direction direction. Since the crop pick-up 38 performs a lateral movement, it can be actuated by a suitable actuator (see Fig. DE 10 2016 002 123 A1 ) must first be raised. Depending on the dimensions and degree of freedom of the drawbar 14, this movement already achieves a corresponding change in the orientation of the device 12 relative to the slope and thus in the pitch angle. This rotation may be enough to safely eject the bale.
  • the steering of towing vehicle 10 can, in particular, be turned to the maximum (to the left, as shown in phases 5 and 6 if device 12 is in the is to be turned anti-clockwise, and to the right if the device 12 is to be turned clockwise) and reverse travel of the towing vehicle 10 and thus of the device 12 can be initiated in order to move the towing vehicle towards the circular path shown in phases 5 and 6 bring.
  • the steering of the towing vehicle 10 is reversed by the control device 52 when, as shown in phase 7, a maximum angle of 90° between the longitudinal axis of the towing vehicle 10 and the longitudinal axis of the device 12 is reached, the maximum angle also being greater or less than 90° and depends, among other things, on the geometry of the drawbar 14 and the towing vehicle 10 and can be selected such that the drawbar 14 does not hit the towing vehicle 10 and/or the combination of towing vehicle 10 and device 12 buckles due to excessively large angles becomes.
  • the ultimate orientation of the device 12 is exactly perpendicular to the original direction of travel and transverse to the slope.
  • the bale is finally ejected from the device 12 and steps 8 to 5 of the figure 3
  • the sequence shown is carried out in the opposite direction (by appropriate control of the actuator 54 for the drawbar 14 and the speed and direction control device 74) in order to align the combination of towing vehicle 10 and implement 12 on the swath 44 and to move it further along the swath 40 and bundling crops.
  • the sequence described above is based on the fact that the controller 52 controls the actuators (actuator 54 of the drawbar, possibly supported by the optional actuator 58 for steering the wheels 34 of the device 12, and speed and direction control device 74 of the towing vehicle 10) based on signals from sensors, namely the sensors 50 for detecting the bale size for initiating phases 1 to 3, the feedback sensor 70 for detecting the position of the drawbar 14 for controlling the offset in phases 2 and 3, and for Change from phase 6 to phase 7, as well as the sensors for detecting the pitch angle of the device 12 to end the sequence and to eject the bale.
  • the various values can be recorded directly by the sensors, or they are recorded indirectly, for example by measuring distances traveled or speeds and the associated times as well as the steering angle.
  • a signal based on position determination device 68 - possibly in cooperation with other sensors that are attached to device 12, towing vehicle 10 and/or drawbar 14, in particular to determine the roll - and/or pitch angle - based, regulated process based on a path planned and automatically traveled by the control device 52 is conceivable, which is selected based on the known or sensor-determined, three-dimensional topography of the field so that ultimately the bale has a suitable orientation is discarded.
  • a control of functions of the towing vehicle 10 is used by the control device 52 of the device 12, for which purpose the use of the ISO 17783 standard and in particular the so-called TIM standard (Tractor Implementation Management) is provided in order to control the steering , the lifting of pickup 38 via the hydraulics of towing vehicle 10, the steering of the drawbar via actuator 54, which is controlled via a control valve on board of towing vehicle 12 via the hydraulics of the towing vehicle 10 and controlled by the control device 52 via the bus Towing vehicle 12 can be controlled, and to automate the control of the speed of the combination.
  • the fully automated or partially automated process are also conceivable, e.g.
  • the tractor driver In addition to preventing the bale from rolling down, the tractor driver also has a better perspective of the ejection process from his position in the cab, which can be an advantage even on flat terrain.
  • the device 12 is designed here as a round baler, but could also be any other Gather and bundle crops as hay or grass. Furthermore, the desired orientation of the deposited, bundled material does not necessarily (only) have to be adapted to the slope, but could, for example, be selected on flat terrain in such a way that the bundled material is affected as little as possible by weather influences or can be collected more easily. If the towing vehicle 10, instead of having steerable wheels 20, is designed as an articulated link or is equipped with crawler tracks that can be driven at different speeds for steering purposes, the associated actuators are controlled analogously to the above description.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Transportation (AREA)
  • Environmental Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Soil Sciences (AREA)
  • Guiding Agricultural Machines (AREA)

Claims (9)

  1. Combinaison d'un véhicule tracteur (10) et d'un instrument tracté (12) destiné à ramasser, à lier et à déposer des matières agricoles, dans laquelle :
    l'instrument (12) est une presse à balles rondes équipée de moyens (38) pour ramasser la matière sur un champ, de moyens (44) pour lier la matière et de moyens (48) pour déposer la matière liée au sol,
    l'orientation de l'instrument (12) par rapport au véhicule tracteur (10) est réglable par un actionneur (54) qui fait partie de l'instrument,
    et un dispositif de commande (52) qui se trouve à bord de l'instrument (12) ou est localisé à bord du véhicule tracteur (10), qui est configuré pour fournir des données de commande destinées à l'actionneur (54) qui permettent d'amener l'instrument (12) dans une orientation autour de l'axe vertical qui convient à la dépose de la matière liée de sorte qu'une balle ronde déposée par l'instrument (12) est orientée avec son axe de symétrie en parallèle à une pente du champ labouré,
    dans laquelle le dispositif de commande (52) est configuré pour fournir en outre des données de commande pour la direction et/ou le contrôle de vitesse et/ou de direction de déplacement du véhicule tracteur (10) qui permettent d'amener l'instrument (12) dans l'orientation appropriée,
    et dans laquelle, à l'issue de l'opération pendant laquelle la matière est ramassée et liée, le dispositif de commande (52) est configuré pour fournir des données de commande pour le contrôle de vitesse du véhicule tracteur (10) qui font que le véhicule tracteur (10) s'arrête,
    caractérisée en ce que pendant une phase finale d'une opération pendant laquelle la matière est ramassée et liée, le dispositif de commande (52) est configuré pour fournir des données de commande destinées à l'actionneur (54) qui font que l'instrument (12) est décalé latéralement par rapport au véhicule tracteur (10), notamment décalé vers la droite, lorsque l'instrument (10) doit pivoter dans le sens antihoraire par rapport à la direction de déplacement occupée lors du ramassage de la matière afin de l'amener vers l'orientation appropriée, et décalé vers la gauche lorsque l'instrument (10) doit pivoter dans le sens horaire par rapport à la direction de déplacement occupée lors du ramassage de la matière afin de l'amener vers l'orientation appropriée,
    en ce qu'à l'issue de l'opération pendant laquelle la matière est ramassée et liée, le dispositif de commande (52) est configuré pour fournir des données de commande destinées à l'actionneur (54) qui font que l'instrument (12) pivote par rapport au véhicule tracteur (10) autour de l'axe vertical en direction de l'orientation appropriée,
    en ce qu'après le pivotement de l'instrument (12) autour de l'axe vertical, réalisé par l'actionnement de l'actionneur (54), le dispositif de commande (52) est configuré pour fournir des données de commande pour la direction et le contrôle de vitesse et direction de déplacement du véhicule tracteur (10) qui font que le véhicule tracteur (10) se déplace dans une direction opposée par rapport à la direction de déplacement lors du ramassage de la matière, notamment dans une direction de déplacement orientée vers la gauche par rapport à la direction de déplacement valable lors du ramassage de la matière lorsque l'instrument (12) doit pivoter dans le sens antihoraire vers l'orientation appropriée par rapport à l'orientation actuelle de l'instrument (12), et dans une direction de déplacement orientée vers la droite par rapport à la direction de déplacement valable lors du ramassage de la matière lorsque l'instrument (12) doit pivoter dans le sens horaire vers l'orientation appropriée par rapport à l'orientation actuelle de l'instrument (12),
    et en ce qu'en marche arrière, le dispositif de commande (52) est configuré pour fournir des données de commande pour la direction du véhicule tracteur (10) qui font que le pivotement du véhicule tracteur (10) est effectué dans le sens opposé au sens de pivotement précédent dès que l'angle entre le véhicule tracteur (10) et l'instrument (12) a atteint un angle maximal.
  2. Combinaison selon la revendication 1, dans laquelle le dispositif de commande (52) est configuré pour envoyer automatiquement à l'actionneur (54) les données de commande destinées à l'actionneur (54) et/ou pour transmettre les données de commande à une interface utilisateur afin de fournir des instructions à un utilisateur pour le pilotage manuel de l'actionneur (54).
  3. Combinaison selon la revendication 1 ou 2, dans laquelle le dispositif de commande (52) est configuré pour envoyer les données de commande pour la direction et/ou le contrôle de vitesse et/ou de direction de déplacement du véhicule tracteur (10) à un actionneur de direction du véhicule tracteur (10) et/ou à un dispositif de contrôle de vitesse et de direction de déplacement (74) du véhicule tracteur (10), et/ou pour transmettre les données de commande à une interface utilisateur afin de fournir des instructions à un utilisateur pour le pilotage manuel d'une direction pouvant être actionnée par l'utilisateur et/ou à un dispositif de contrôle de vitesse et/ou de direction de déplacement pouvant être actionné par l'utilisateur du véhicule tracteur (10).
  4. Combinaison selon l'une quelconque des revendications 1 à 3, dans laquelle le dispositif de commande (52) est configuré pour piloter le décalage latéral en fonction d'une largeur de travail d'un dispositif de ramassage (38) de l'instrument (12) et en fonction de la largeur établie par capteur d'un andain (44) de la matière à ramasser.
  5. Combinaison selon l'une quelconque des revendications 1 à 4, dans laquelle le dispositif de commande (52) est configuré pour ordonner un relèvement d'un dispositif de ramassage (38) de l'instrument (12) avant la fourniture des données de commande destinées à l'actionneur (54).
  6. Combinaison selon l'une quelconque des revendications 1 à 5, dans laquelle l'angle entre le véhicule tracteur (10) et l'instrument (12) peut être détecté par capteur à l'aide d'un capteur de rétroaction (70) pour détecter l'angle entre la barre d'attelage (14) d'une part et l'instrument (12) et/ou le véhicule tracteur (10) d'autre part ou peut être déterminé à l'aide d'un trajet parcouru ou d'un délai.
  7. Combinaison selon l'une quelconque des revendications 1 à 6, dans laquelle le dispositif de commande (52) est configuré pour fournir des données de commande qui font qu'un actionnement de l'actionneur (54) et/ou une opération de braquage et/ou de marche arrière du véhicule tracteur (10) est achevée lorsque l'instrument (12) a atteint l'orientation appropriée.
  8. Combinaison selon l'une quelconque des revendications précédentes, dans laquelle le dispositif de commande (52) est configuré pour piloter les données de commande destinées à l'actionneur (54) et à la direction et/ou au contrôle de vitesse et/ou de direction de déplacement sur la base de valeurs détectées par capteur et/ou préalablement stockées concernant la topographie tridimensionnelle du champ et de données détectées directement ou indirectement pour l'instrument (12) et/ou le véhicule tracteur (10) et/ou d'un trajet planifié sur la base de la topographie du champ.
  9. Combinaison selon l'une quelconque des revendications précédentes, dans laquelle l'actionneur (54) est configuré pour régler l'angle d'une barre d'attelage (14) entre le véhicule tracteur (10) et l'instrument (12) par rapport à l'instrument (12) et/ou par rapport au véhicule tracteur (10).
EP20208202.0A 2019-12-20 2020-11-17 Combinaison d'un véhicule tracteur et d'un appareil Active EP3837961B1 (fr)

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DE102019220445.7A DE102019220445A1 (de) 2019-12-20 2019-12-20 Kombination aus einem Zugfahrzeug und einem Gerät

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JP6863358B2 (ja) * 2018-10-26 2021-04-21 井関農機株式会社 作業車両
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US11622495B2 (en) * 2021-06-01 2023-04-11 Gint Co., Ltd. Method of automatically combining farm vehicle and work machine and farm vehicle
EP4194233A1 (fr) * 2021-12-10 2023-06-14 VBG Group AB (Publ) Agencement de barre d'attelage réglable et procédé de commande d'un tel agencement de barre d'attelage
DE102022117884A1 (de) * 2022-07-18 2024-01-18 Krone Agriculture Se Lenkverfahren für eine landmaschine
WO2024127144A1 (fr) * 2022-12-16 2024-06-20 Precision Planting Llc Potence
CN116530308A (zh) * 2023-07-06 2023-08-04 黑龙江派尔农业科技有限公司 自走式打捆机

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DE10129133A1 (de) 2001-06-16 2002-12-19 Deere & Co Einrichtung zur selbsttätigen Lenkung eines landwirtschaftlichen Arbeitsfahrzeugs
DE102005004508A1 (de) * 2005-01-31 2006-08-17 Claas Selbstfahrende Erntemaschinen Gmbh Vorrichtung zur gleichmäßigen Beschickung von Arbeitsmaschinen
EP1926364B1 (fr) 2005-09-14 2010-01-13 Agrocom Verwaltungs GmbH Procédé de commande d'une ramasseuse presse et ramasseuse presse
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